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Bài giảng Nhập môn thị giác máy tính - Chapter 2: Projective geometry and camera models - Lê Thanh Hải

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Chapter 2 – Camera Model  
2-1  
Chapter 2  
Projective Geometry and  
Camera Models  
J ames Hays , Brown Univers ity  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-2  
Contents  
Mapping between image and world coordinates  
• Projective geometry  
. Vanishing points and lines  
• Pinhole camera model  
• Cameras & lenses  
• Projection matrix  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-3  
Camera and World Geometry  
Chapter 2 – Camera Model  
2-4  
Projection can be tricky…  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-5  
Projection can be tricky…  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-6  
Projective Geometry  
• What is lost?  
. Length  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-7  
Length is not preserved  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-8  
Projective Geometry  
• What is lost?  
. Length  
. Angles  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-9  
Projective Geometry  
• What is preserved?  
. Straight lines are still straight  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-10  
Vanishing points and lines  
• Parallel lines in the world intersect in the image at a  
“vanishing point”.  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-11  
Vanishing points and lines  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-12  
Vanishing points and lines  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-13  
Vanishing points and lines  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-14  
Note on estimating vanishing points  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-15  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-16  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-17  
Camera obscura: the pre-camera  
• Known during classical period in China and Greece  
(e.g. Mo-Ti, China, 470BC to 390BC)  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-18  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-19  
Department of Mechatronics  
Chapter 2 – Camera Model  
2-20  
Department of Mechatronics  
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